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Removes templating on data type. (#122)

master
Damon Kohler 2016-10-17 16:39:29 +02:00 committed by GitHub
parent d1707853af
commit caa77c8588
3 changed files with 9 additions and 13 deletions
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3
cartographer_ros/cartographer_ros/node_main.cc
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@ -146,8 +146,7 @@ class Node {
std::deque<carto::mapping::TrajectoryNode::ConstantData> constant_data_
GUARDED_BY(mutex_);
carto::mapping::MapBuilder map_builder_ GUARDED_BY(mutex_);
carto::sensor::Collator<carto::sensor::Data> sensor_collator_
GUARDED_BY(mutex_);
carto::sensor::Collator sensor_collator_ GUARDED_BY(mutex_);
SensorBridge sensor_bridge_ GUARDED_BY(mutex_);
::ros::NodeHandle node_handle_;

8
cartographer_ros/cartographer_ros/sensor_bridge.cc
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@ -56,10 +56,10 @@ SensorBridgeOptions CreateSensorBridgeOptions(
return options;
}
SensorBridge::SensorBridge(
const SensorBridgeOptions& options, const TfBridge* const tf_bridge,
const int trajectory_id,
carto::sensor::Collator<carto::sensor::Data>* const sensor_collator)
SensorBridge::SensorBridge(const SensorBridgeOptions& options,
const TfBridge* const tf_bridge,
const int trajectory_id,
carto::sensor::Collator* const sensor_collator)
: options_(options),
tf_bridge_(tf_bridge),
trajectory_id_(trajectory_id),

11
cartographer_ros/cartographer_ros/sensor_bridge.h
View File

@ -47,11 +47,9 @@ SensorBridgeOptions CreateSensorBridgeOptions(
// Converts ROS messages into SensorData in tracking frame for the MapBuilder.
class SensorBridge {
public:
explicit SensorBridge(
const SensorBridgeOptions& options, const TfBridge* tf_bridge,
int trajectory_id,
::cartographer::sensor::Collator<::cartographer::sensor::Data>*
sensor_collator);
explicit SensorBridge(const SensorBridgeOptions& options,
const TfBridge* tf_bridge, int trajectory_id,
::cartographer::sensor::Collator* sensor_collator);
SensorBridge(const SensorBridge&) = delete;
SensorBridge& operator=(const SensorBridge&) = delete;
@ -77,8 +75,7 @@ class SensorBridge {
const SensorBridgeOptions options_;
const TfBridge* const tf_bridge_;
const int trajectory_id_;
::cartographer::sensor::Collator<::cartographer::sensor::Data>* const
sensor_collator_;
::cartographer::sensor::Collator* const sensor_collator_;
};
} // namespace cartographer_ros